CN111708061A - Multi-reference-station differential positioning information generation method based on dynamic grid - Google Patents

Multi-reference-station differential positioning information generation method based on dynamic grid Download PDF

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CN111708061A
CN111708061A CN202010499648.3A CN202010499648A CN111708061A CN 111708061 A CN111708061 A CN 111708061A CN 202010499648 A CN202010499648 A CN 202010499648A CN 111708061 A CN111708061 A CN 111708061A
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高旺
乔龙雷
潘树国
刘国良
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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Abstract

The invention discloses a multi-reference station differential positioning information generation method based on a dynamic grid, which comprises the following steps: according to the Gaussian plane projection, equally dividing a reference station network coverage area into a plurality of grids, and virtualizing a plurality of grid points; the reference station system generates double-difference troposphere and ionosphere delay errors on the base line by resolving double-difference ambiguity between the base lines; the data processing system dynamically generates a virtual observation value of each grid point according to the online information of the terminal user, wherein the virtual observation value comprises a carrier and a pseudo-range observation value, and the grid point non-data generation state is kept in a grid area without the online of the user so as to reduce the data generation pressure; when a user positions, the high-precision positioning of the user side can be met only by simply judging nearby grid points and implementing unidirectional grid point positioning information forwarding. According to the invention, through the generation of the dynamic grid point virtual observation value, the data generation pressure of the data processing center can be greatly reduced, and the concurrent positioning requirements of large-scale terminal users can be ensured.

Description

Multi-reference-station differential positioning information generation method based on dynamic grid
Technical Field
The invention belongs to the technical field of GNSS (Global Navigation Satellite System) positioning and Navigation, relates to a multi-reference station grid differential positioning technology, and particularly relates to a multi-reference station differential positioning information generation method based on a dynamic grid.
Background
The network RTK technology is one of GNSS precision positioning technologies which are most widely applied at present, and the principle of the network RTK technology is that a plurality of reference stations with known coordinates in an area are utilized to receive satellite navigation signals all weather, and accurate space error information such as a troposphere, an ionosphere and the like between the reference stations is solved by resolving double-difference ambiguity between the reference stations; and secondly, after obtaining the atmospheric error information on each baseline, carrying out spatial modeling on the area by utilizing the spatial correlation of the atmospheric errors, and establishing an atmospheric error spatial model. And when the user is positioned, the data processing center interpolates the atmospheric error at the probability position of the user by using the established atmospheric error spatial model according to the uploaded probability position information and generates virtual reference station information, so that an ultra-short base line is formed with actual observation data of the user side, and quick high-precision RTK positioning is implemented. At present, with the rapid development of a plurality of GNSS systems, the network RTK positioning can realize the accuracy of about 1-2cm in plane and 3cm in elevation, and the positioning convergence time is generally within 30 s.
According to the principle, the network RTK positioning technology generally depends on bidirectional communication between a user and a data processing center, namely, the user needs to upload an outline point coordinate in real time, and the data processing center calculates differential correction information or a virtual observation value of the outline point position in real time according to the user position and then sends the information or the virtual observation value to a user terminal for high-precision calculation. The data processing center needs to generate point-to-point data for users, so that the data processing task amount is large, and the user capacity is limited. With the rapid development of high-precision position service industries such as intelligent driving, fine agriculture and the like, the existing network RTK service mode is difficult to meet the concurrent positioning requirements of high-capacity users. Therefore, efficient positioning information generation and broadcasting strategies need to be explored on the premise of ensuring centimeter-level high precision.
Disclosure of Invention
In order to solve the problems, the invention discloses a multi-reference station differential positioning information generation method based on a dynamic grid, which dynamically generates effective grid point information according to the actual online information of a user, and reduces the data generation pressure of a data processing center, thereby ensuring the concurrent positioning requirements of large-scale terminal users.
In order to achieve the purpose, the technical scheme of the invention is as follows:
step 1, a multi-reference station differential positioning information generation method based on a dynamic grid comprises the following steps:
step 2, dividing a multi-reference station coverage area into equidistant grids according to Gaussian plane projection, and generating a plurality of virtual grid points;
step 3, the reference station data processing system calculates double-difference ambiguity between baselines to further generate double-difference troposphere and ionosphere delay errors on the baselines, and performs spatial modeling;
step 4, the data processing system matches grid points nearby according to the online information of the positioning user, dynamically generates virtual observation values of all the grid points, comprises carrier waves and pseudo-range observation values, and keeps a grid point non-data generation state in a grid area without the online user so as to reduce data generation pressure;
when large-scale users are positioned concurrently, the data processing system only needs to simply judge nearby grid points and then implement unidirectional grid point information forwarding to meet the requirement of high-precision positioning of the user side.
The method comprises the following specific steps:
step 1. obtaining coordinates of each grid point
Figure BDA0002524320000000021
In the formula, x(i,j)、y(i,j)And h(i,j)Respectively representing plane north-south direction, east-west direction and elevation direction coordinates of the grid points (i, j); x is the number ofmaxAnd xminRespectively representing the maximum and minimum north-south coordinates of the coverage area of the reference station network; y ismaxAnd yminRespectively representing the maximum and minimum east-west coordinates of the coverage area of the reference station network; m and n respectively represent the number of grids divided in the north-south and east-west directions; h isuThe height of the U-th reference station is shown, and U represents the number of stations in the reference station network.
Step 2, double-difference ambiguity resolution between base stations and ionosphere and troposphere space modeling
The reference station data processing system generates double-difference troposphere and ionosphere delay errors on the base line by resolving double-difference ambiguity between the base lines and carries out spatial modeling. Suppose that the two carrier frequencies between the base lines are resolved into double-difference ambiguities of
Figure BDA0002524320000000022
And
Figure BDA0002524320000000023
double difference tropospheric error per satellite pair at baseline
Figure BDA0002524320000000024
And ionospheric delay errors
Figure BDA0002524320000000025
Can be obtained by the following formula
Figure BDA0002524320000000026
In the formula (I), the compound is shown in the specification,
Figure BDA0002524320000000027
is the interstation-intersatellite double difference operator, c denotes the speed of light, f1And f2Respectively representing the frequencies on the two carriers,
Figure BDA0002524320000000028
and
Figure BDA0002524320000000029
respectively carrier observations on two frequencies,
Figure BDA00025243200000000210
representing double-differenced standing star distances. For spatial modeling of errors, the ionospheric errors employ a linear interpolation model:
Figure BDA00025243200000000211
in equation (3), the subscript 1,2 … t-1 denotes the secondary reference station participating in the modeling; t represents a primary reference station; Δ xi,tAnd Δ yi,t(i-1, 2, 3.., t-1) represents the difference in plane position between the t-1 secondary reference stations and the t-th primary reference station; the parameters a and b are the model coefficients to be solved. When the number of reference stations is greater than 3, the coefficients a and b can be obtained by solving equation (3). For grid point g, the double difference ionospheric delay value can be obtained according to the formula (4)
Figure BDA0002524320000000031
Adopting an error modeling method considering elevation for troposphere errors, and further considering an elevation factor on the basis of formula (3), as shown in formula (5)
Figure BDA0002524320000000032
In the formula,. DELTA.hi,t(i-1, 2, 3.., t-1) represents the difference between the elevations of the t-1 auxiliary reference stations and the t-th main reference station, and for a grid point g, a double-difference tropospheric delay value can be obtained according to the formula (6)
Figure BDA0002524320000000033
Step 3, generating virtual observed value of grid point
The data processing system matches grid points nearby according to the on-line information of the positioning user, dynamically generates virtual observed values of all the grid points, comprises carrier waves and pseudo-range observed values, and keeps a grid point non-data generation state in a grid area where the user is not on-line so as to reduce data generation pressure. Generating virtual observed values of grid points according to formula (7) by using adjacent grid points with users online
Figure BDA0002524320000000034
Wherein g and t represent a subscriber station and a main reference station, respectively; p and
Figure BDA0002524320000000035
respectively are pseudo range and carrier observed value; delta rho is the station-satellite distance difference between the grid point and the same satellite corresponding to the main reference station; λ represents a wavelength; the index j indicates frequency.
And 4, when large-scale users are positioned concurrently, the data processing system only needs to simply judge the grid point closest to the users and then implements unidirectional grid point information (the virtual observation value shown in the formula (7) in the step 3) to forward, so that the data processing system can be used for high-precision positioning of the user side.
The beneficial effects of the invention include:
the multi-reference station differential positioning information generation method based on the dynamic grid dynamically and flexibly generates the observation information of the grid points according to the specific online information of the user, and can effectively avoid the generation waste of grid observation values in non-positioning areas, thereby reducing the data generation pressure of a data processing center. The method dynamically and flexibly considers the condition of large-scale concurrent users on the basis of ensuring the positioning and supporting performance of the traditional network RTK, and has reference significance for large-scale and multi-industry application of the network RTK technology.
Drawings
Fig. 1 is a flowchart of an implementation of a method for generating differential positioning information of multiple reference stations based on a dynamic mesh according to the present invention;
fig. 2 is a schematic diagram of mesh partitioning according to a reference station mesh coverage area (mesh points do not generate virtual observations);
FIG. 3 is a schematic diagram of grid point virtual observation values dynamically generated according to online information of a user;
FIG. 4 is a case (Fix solution) where a real positioning user receives a virtual observation value for positioning when 1000 simulation users access concurrently;
fig. 5 shows the positioning accuracy of the real positioning user when 1000 simulation users access simultaneously.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
As shown in the figure, the embodiment discloses a method for generating multi-reference station differential positioning information based on a dynamic grid, which specifically includes the following steps:
step 1, dividing a multi-reference station coverage area into equidistant grids according to Gaussian plane projection, and generating a plurality of virtual grid points, wherein the coordinates of each grid point can be obtained according to the following formula:
Figure BDA0002524320000000041
in the formula, x(i,j)、y(i,j)And h(i,j)Respectively representing plane north-south direction, east-west direction and elevation direction coordinates of the grid points (i, j); x is the number ofmaxAnd xminRespectively representing the maximum and minimum north-south coordinates of the coverage area of the reference station network; y ismaxAnd yminRespectively representing the maximum and minimum east-west coordinates of the coverage area of the reference station network; m and n respectively represent the number of grids divided in the north-south and east-west directions; h isuThe height of the U-th reference station is shown, and U represents the number of stations in the reference station network. As shown in fig. 2.
And 2, the reference station data processing system generates double-difference troposphere and ionosphere delay errors on the base line by resolving double-difference ambiguity between the base lines and carries out spatial modeling. Suppose that the two carrier frequencies between the base lines are resolved into double-difference ambiguities of
Figure BDA0002524320000000042
And
Figure BDA0002524320000000043
double difference tropospheric error per satellite pair at baseline
Figure BDA0002524320000000044
And ionospheric delay errors
Figure BDA0002524320000000045
Can be obtained by the following formula
Figure BDA0002524320000000046
Wherein Δ ▽ is the interstation-intersatellite double difference operator, c represents the speed of light, f1And f2Respectively representing the frequencies on the two carriers,
Figure BDA0002524320000000047
and
Figure BDA0002524320000000048
respectively carrier observations on two frequencies,
Figure BDA0002524320000000049
representing double-differenced standing star distances. For spatial modeling of errors, the ionospheric errors employ a linear interpolation model:
Figure BDA0002524320000000051
in equation (3), the subscript 1,2 … t-1 denotes the secondary reference station participating in the modeling; t represents a primary reference station; Δ xi,tAnd Δ yi,t(i-1, 2, 3.., t-1) represents the difference in plane position between the t-1 secondary reference stations and the t-th primary reference station; the parameters a and b are the model coefficients to be solved. When the number of reference stations is greater than 3, the coefficients a and b can be obtained by solving equation (3). For grid point g, the double difference ionospheric delay value can be obtained according to the formula (4)
Figure BDA0002524320000000052
Adopting an error modeling method considering elevation for troposphere errors, and further considering an elevation factor on the basis of formula (3), as shown in formula (5)
Figure BDA0002524320000000053
In the formula,. DELTA.hi,t(i-1, 2, 3.., t-1) denotes t-1 secondary reference stations and the t-th primary reference stationThe elevation difference of the reference station can obtain the double-difference troposphere delay value according to the formula (6) for the grid point g
Figure BDA0002524320000000054
And 3, matching grid points nearby by the data processing system according to the on-line information of the positioning user, dynamically generating a virtual observation value of each grid point, wherein the virtual observation value comprises a carrier wave and a pseudo-range observation value, and keeping a grid point non-data generation state in a grid area without the user on-line so as to reduce data generation pressure. Generating virtual observed values of grid points according to formula (7) by using adjacent grid points with users online
Figure BDA0002524320000000055
Wherein g and t represent a subscriber station and a main reference station, respectively; p and
Figure BDA0002524320000000056
respectively are pseudo range and carrier observed value; delta rho is the station-satellite distance difference between the grid point and the same satellite corresponding to the main reference station; λ represents a wavelength; the index j indicates frequency. As shown in fig. 3.
And 4, when large-scale users are positioned concurrently, the data processing system only needs to simply judge the grid point closest to the users and then implement unidirectional grid point information (the virtual observation value shown in the formula (7) in the step 3) forwarding, so that the data processing system can be used for high-precision positioning of the user side. Fig. 4 shows a situation that a real positioning user receives a virtual observation value for positioning when 1000 simulation users access simultaneously, which shows that the real user can smoothly receive the virtual observation value information of a grid point and realize Fix solution; fig. 5 is a positioning accuracy situation of the user, and it can be seen that the positioning accuracy of the fixed solution at this time: the positioning accuracy (root mean square error RMS) in the east-west direction (E-W) and the south-north direction (N-S) is 0.45cm and 0.31cm respectively, the accuracy in the elevation direction is 1.68cm, and centimeter-level high-accuracy positioning can be normally realized.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features.

Claims (5)

1. The multi-reference-station differential positioning information generation method based on the dynamic grid is characterized by comprising the following steps:
step 1, dividing a multi-reference station coverage area into equidistant grids according to Gaussian plane projection, and generating a plurality of virtual grid points;
step 2, the reference station data processing system calculates double-difference ambiguity between baselines to further generate double-difference troposphere and ionosphere delay errors on the baselines and carries out spatial modeling;
step 3, the data processing system matches grid points nearby according to the online information of the positioning user, dynamically generates virtual observation values of all the grid points, comprises carrier waves and pseudo-range observation values, and keeps a grid point non-data generation state in a grid area without the online user so as to reduce data generation pressure;
and 4, when large-scale users are positioned concurrently, the data processing system only needs to simply judge nearby grid points and then implements unidirectional grid point information forwarding to meet the requirement of high-precision positioning of the user side.
2. The method for generating multi-reference station differential positioning information based on a dynamic mesh as claimed in claim 1, wherein the coordinates of each mesh point in step 1 are obtained according to the following formula:
Figure FDA0002524319990000011
in the formula, x(i,j)、y(i,j)And h(i,j)Respectively representing plane north-south direction, east-west direction and elevation direction coordinates of the grid points (i, j); x is the number ofmaxAnd xminRespectively representing the maximum and minimum north-south coordinates of the coverage area of the reference station network; y ismaxAnd yminRespectively representing the maximum and minimum east-west coordinates of the coverage area of the reference station network; m and n respectively represent the number of grids divided in the north-south and east-west directions; h isuThe height of the U-th reference station is shown, and U represents the number of stations in the reference station network.
3. The method for generating multi-reference-station differential positioning information based on a dynamic grid as claimed in claim 1, wherein the reference station data processing system in step 2 generates double-difference troposphere and ionosphere delay errors on the baselines by resolving double-difference ambiguities between the baselines, and performs spatial modeling; suppose that the two carrier frequencies between the base lines are resolved into double-difference ambiguities of
Figure FDA0002524319990000012
And
Figure FDA0002524319990000013
double difference tropospheric error per satellite pair at baseline
Figure FDA0002524319990000014
And ionospheric delay errors
Figure FDA0002524319990000015
Is obtained by the following formula
Figure FDA0002524319990000016
In the formula (I), the compound is shown in the specification,
Figure FDA0002524319990000017
is the interstation-intersatellite double difference operator, c denotes the speed of light, f1And f2Respectively representing the frequencies on the two carriers,
Figure FDA0002524319990000018
and
Figure FDA0002524319990000019
respectively carrier observations on two frequencies,
Figure FDA00025243199900000110
a standing star distance representing a double difference; for spatial modeling of errors, the ionospheric errors employ a linear interpolation model:
Figure FDA0002524319990000021
in equation (3), the subscript 1,2 … t-1 denotes the secondary reference station participating in the modeling; t represents a primary reference station; Δ xi,tAnd Δ yi,t(i-1, 2, 3.., t-1) represents the difference in plane position between the t-1 secondary reference stations and the t-th primary reference station; parameters a and b are model coefficients to be solved; when the number of the reference stations is more than 3, coefficients a and b can be obtained by solving the formula (3); obtaining double-difference ionospheric delay values for grid points g as per equation (4)
Figure FDA0002524319990000022
Adopting an error modeling method considering elevation for troposphere errors, and further considering an elevation factor on the basis of formula (3), as shown in formula (5)
Figure FDA0002524319990000023
In the formula,. DELTA.hi,t(i-1, 2, 3.., t-1) represents the difference between the elevations of the t-1 auxiliary reference station and the t-th main reference station, and the double-difference tropospheric delay value is obtained for grid point g as in equation (6)
Figure FDA0002524319990000024
4. The method for generating multi-reference station differential positioning information based on dynamic grid as claimed in claim 1, wherein the data processing system in step 3 matches grid points nearby according to the on-line information of the positioning user, and dynamically generates virtual observation values of each grid point, including carrier and pseudo-range observation values, and keeps the grid point non-data generation state in the grid area without on-line of the user to reduce the data generation pressure; generating virtual observed values of grid points according to formula (7) by using adjacent grid points with users online
Figure FDA0002524319990000025
Wherein g and t represent a subscriber station and a main reference station, respectively; p and
Figure FDA0002524319990000026
respectively are pseudo range and carrier observed value; delta rho is the station-satellite distance difference between the grid point and the same satellite corresponding to the main reference station; λ represents a wavelength; the index j indicates frequency.
5. The method as claimed in claim 1, wherein in the step 4, when performing large-scale concurrent positioning for users, the data processing system only needs to simply determine the mesh point nearest to the user, and then perform unidirectional mesh point information forwarding to perform high-precision positioning for the user side.
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